CN111798183A

CN111798183A - Library management method, device, system and storage medium

Info

Publication number: CN111798183A
Application number: CN202010645226.2A
Authority: CN
Inventors: 周红霞
Original assignee: Shenzhen Hairou Innovation Technology Co Ltd
Current assignee: Hai Robotics Co Ltd
Priority date: 2020-07-07
Filing date: 2020-07-07
Publication date: 2020-10-20
Also published as: WO2022007642A1

Abstract

The application provides a method, equipment, a system and a storage medium for arranging a library, wherein a server determines a carrying path according to goods parameters of target goods and library position parameters of a target library position, and then generates a corresponding library arranging task instruction according to the carrying path, so that a robot can be controlled to complete a task of arranging the target goods.

Description

Library management method, device, system and storage medium

Technical Field

The application relates to the technical field of intelligent warehousing, in particular to a warehouse management method, device, system and storage medium.

Background

Warehouse Management (Warehouse Management) refers to storing and keeping materials through a Warehouse. Generally, it refers to the whole process of activities starting from receiving the stored goods, going through the storage and keeping operations, until the goods are released intact.

The warehouse is used as an operation activity in warehouse management, and specifically refers to an activity of combining and arranging the bins not filled with goods and carrying the arranged bins to a specified position. For example: put the detained goods in the designated depot area, etc. In the prior art, warehouse management activities are usually performed by warehouse management personnel, that is, the warehouse management personnel arranges and combines the bins which are not filled with goods, and then drives a transport vehicle to transport the bins to a specified position.

However, the inventor finds that the existing rational library method depends on manual completion and is low in execution efficiency.

Disclosure of Invention

The application provides a library management method, device, system and storage medium, which are used for solving the technical problems that the existing library management method depends on manual completion and is low in execution efficiency.

In a first aspect, the present application provides a library management method, applied to a server, including:

acquiring a goods parameter of at least one target goods and a position parameter of at least one target position;

determining a total carrying path for arranging at least one target cargo according to the cargo parameters and the storage location parameters;

and generating a library managing task instruction for controlling the robot to arrange at least one target cargo according to the total carrying path.

Optionally, determining a total carrying path for sorting at least one target cargo according to the cargo parameter and the storage location parameter, specifically including:

and determining the shortest total carrying path for arranging at least one target cargo according to the cargo parameters and the storage position parameters.

Optionally, according to the cargo parameter and the storage location parameter, determining a shortest total carrying path of the sorted target cargo, specifically including:

determining at least one total carrying path for respectively carrying all target cargos to the target storage positions according to the cargo parameters and the storage position parameters;

the shortest overall transfer path is selected from the at least one overall transfer path.

Optionally, determining at least one total transportation path for respectively transporting all the target cargos to the target storage location according to the cargo parameter and the storage location parameter, specifically including:

calculating a single carrying path of a single target cargo to a target storage position according to the cargo parameter and the storage position parameter;

the individual transfer paths for all the target cargo are summed to determine a total transfer path.

Optionally, calculating a single carrying path for carrying a single target cargo to the target storage location according to the cargo parameter and the storage location parameter, specifically including:

determining a material taking path for taking out the current target goods according to the position of the target position corresponding to the previous target goods and the position of the current target goods; wherein the cargo parameters include: a current location of the current target shipment;

determining a returning path from the current storage position to the target storage position according to the position of the current storage position and the storage position parameters of the target storage position;

and determining a single carrying path according to the material taking path and the material returning path.

Optionally, determining a returning path from the current position to the target position according to the position of the current position and the position parameter of the target position, specifically including:

determining a material returning path from the current storage position to the target storage position according to the position of the current storage position and the position of the target storage position, wherein the storage position parameters comprise: the location of the target library location.

determining a main material returning path from the current storage position to the target storage position according to the position of the current storage position and the position of the target storage position;

determining an additional path according to the occupation state of the target library bit, wherein the library bit parameters comprise: the position and the occupation state of the target library position;

and superposing the main material returning path and the additional path to generate a material returning path.

Optionally, determining an additional path according to the occupation state of the target library bit specifically includes:

if the occupied state indicates that the target storage position is occupied by the occupied goods, determining an additional path for carrying the occupied goods from the target storage position to the transfer storage position according to the position of the target storage position and the position of the transfer storage position;

and if the occupation state indicates that the target storage position is not occupied by occupied goods, the additional path is zero.

according to the goods parameters and the storage location parameters, material taking paths of all target goods, material returning paths of all target goods and additional paths of all occupied goods are sequentially and respectively determined;

and determining a total conveying path according to the material taking path, the material returning path and the additional path.

Optionally, the warehouse location is a single-depth warehouse location, and the goods parameter of the at least one target goods and the location parameter of the at least one target warehouse location are obtained, specifically including any one or a combination of more than one of the following items:

taking the warehouse location at the warehouse exit as a target warehouse location;

taking a warehouse location beside a main road of the warehouse as a target warehouse location;

and taking the library bit positioned in the same area as a target library bit.

Optionally, the warehouse location is a double-depth warehouse location, the warehouse location includes a shallow warehouse location and a deep warehouse location, the goods parameter of the at least one target goods and the location parameter of the at least one target warehouse location are obtained, and the method specifically includes any one or a combination of more of the following:

taking a shallow storage position at the warehouse outlet as a target storage position;

taking a shallow storage position beside a main road of the warehouse as a target storage position;

taking both the shallow reservoir position and the deep reservoir position which are positioned at the same position as a target reservoir position;

and taking the storage position occupied by the occupied goods as a target storage position.

Optionally, the cargo parameter of at least one target cargo and the location parameter of at least one target location are obtained, which specifically includes any one or more of the following combinations:

taking the stock goods with the ex-warehouse frequency higher than a first preset frequency threshold value as target goods;

taking the inventory goods with the association degree higher than a preset association degree threshold value between the two inventory goods as target goods;

and taking the stock goods in the delivery order as target goods.

In a second aspect, the present application provides a library management method applied to a robot, the method including:

receiving a library managing task instruction sent by a server, wherein the library managing task instruction is determined according to a total carrying path for sorting at least one target cargo, and the total carrying path is determined according to a cargo parameter of the at least one target cargo and a library position parameter of the at least one target library position;

and carrying the target goods to the target storage position according to the library management task instruction.

Optionally, according to the library management task instruction, the method for transporting the target cargo to the target library location specifically includes:

sequentially taking out all target cargos from the current storage positions of the target cargos;

and sequentially placing the target goods in the target storage position.

Optionally, put target goods in target storehouse position in proper order, specifically include:

and judging that the target storage position is occupied by the occupied goods, transferring the occupied goods to the storage space of the robot, and placing the occupied goods in the transfer storage position.

and judging that the target storage position is occupied by the goods, and sending occupation information to the server so as to redistribute the target storage position to the server.

and judging whether the target storage position is occupied by the goods, and sending occupation information to the server so as to enable the server to generate prompt information for requesting manual assistance.

Optionally, the target goods are stock goods with the ex-warehouse frequency higher than a first preset frequency threshold;

if the warehouse location is a single-depth warehouse location, the target warehouse location is a warehouse location positioned at the warehouse exit, and/or the target warehouse location is a warehouse location positioned beside the main road of the warehouse;

and if the warehouse location is a double-depth warehouse location, the target warehouse location is a shallow warehouse location positioned at the warehouse exit, and/or the target warehouse location is a shallow warehouse location positioned beside the main road of the warehouse.

Optionally, the target goods are stock goods in the delivery order;

Optionally, the target goods are the inventory goods of which the association degree between the two inventory goods is higher than a preset association degree threshold;

if the warehouse location is a single-depth warehouse location, the target warehouse location is a warehouse location in the same area;

and if the warehouse positions are double-depth warehouse positions, the target warehouse positions are a shallow warehouse position and a deep warehouse position which are positioned at the same position.

In a third aspect, the present application provides a library management apparatus, including:

the acquisition module is used for acquiring at least one goods parameter of the target goods and at least one position parameter of the target position;

the determining module is used for determining a carrying path for arranging at least one target cargo according to the cargo parameters and the storage location parameters;

and the generating module is used for generating a library managing task instruction for controlling the robot to arrange at least one target cargo according to the carrying path.

In a fourth aspect, the present application provides a library management apparatus, including:

the receiving module is used for receiving a library management task instruction sent by the server, wherein the library management task instruction is determined according to a total carrying path for sorting at least one target cargo, and the total carrying path is determined according to a cargo parameter of the at least one target cargo and a library position parameter of at least one target library position;

and the execution module is used for carrying the target goods to the target storage position according to the library managing task instruction.

In a fifth aspect, the present application provides a server, comprising:

a memory for storing a program;

a processor for executing the program stored in the memory, the processor being adapted to perform the library management method according to the first aspect and alternative aspects when the program is executed.

In a sixth aspect, the present application provides a robot comprising:

a memory for storing a program;

a processor for executing the program stored in the memory, the processor being adapted to perform the library management method according to the second aspect and alternative aspects when the program is executed.

In a seventh aspect, the present application provides a library management system, including: the server according to the fifth aspect and the robot according to the sixth aspect.

In an eighth aspect, the present application provides a computer-readable storage medium comprising instructions which, when executed on a computer, cause the computer to perform the library management method according to the first aspect and the alternative aspect and the second aspect and the alternative aspect.

Drawings

FIG. 1 is a schematic structural diagram of a library management system provided in the present application;

FIG. 2 is a schematic diagram of a library management method provided herein;

fig. 3 is a schematic flowchart of a library management method according to an embodiment of the present application;

FIG. 4 is a schematic diagram illustrating a library management method according to another embodiment of the present disclosure;

FIG. 5 is a schematic diagram illustrating a library management method according to another embodiment of the present application;

FIG. 6 is a schematic diagram illustrating a library management method according to still another embodiment of the present application;

FIG. 7 is a schematic diagram illustrating a library management method according to yet another embodiment of the present application;

fig. 8 is a schematic structural diagram of a library management device according to an embodiment of the present application;

fig. 9 is a schematic structural diagram of a library management device according to another embodiment of the present application;

fig. 10 is a schematic structural diagram of a server according to an embodiment of the present application;

fig. 11 is a schematic structural diagram of a robot according to an embodiment of the present application.

Detailed Description

To make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below with reference to the drawings in the present application, and it is obvious that the described embodiments are some, but not all embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

The warehouse is used as an operation activity in warehouse management, and specifically refers to an activity of combining and arranging the bins not filled with goods and carrying the arranged bins to a specified position. For example: put the detained goods in the designated depot area, etc. In the prior art, warehouse management activities are usually performed by warehouse management personnel, that is, the warehouse management personnel arranges and combines the bins which are not filled with goods, and then drives a transport vehicle to transport the bins to a specified position. However, the inventor finds that the existing rational library method depends on manual completion and is low in execution efficiency.

As shown in fig. 1, the library management method provided in the present application is applied to the following library management application scenario. The warehouse may be a single-story warehouse and a multi-story warehouse. The library management system 100 includes a server 101 and a robot 102. The server 101 and the robot 102 communicate with each other, the server 101 issues a library managing task instruction to the robot 102, and the robot 102 executes the library managing task according to the library managing task instruction. The server 101 bases its own on various parameters within the warehouse, for example: and (4) generating a warehouse managing task by the goods parameters of the warehoused goods and the warehouse location goods of the warehouse location. And generating a library managing task instruction according to the library managing task. The warehouse managing task specifically refers to a carrying path for carrying the target goods from the current warehouse location to the target warehouse location.

The application provides a library management method, device, system and storage medium, aiming at solving the problems in the prior art. As shown in fig. 2, the inventive concept of the library management method provided by the present application is: the server determines a carrying path for arranging the target goods according to the goods parameters of the target goods and the position parameters of the target position, generates a library arranging task instruction according to the carrying path, and starts work to the robot to finish an arrangement task through the library arranging task instruction, so that the arrangement method is independent of manual work and high in execution efficiency.

As shown in fig. 3, the present application provides a library management method, which includes the following steps:

s201, the server obtains at least one goods parameter of the target goods and at least one position parameter of the target position.

The target goods refer to goods which are subjected to internal arrangement and combination in the bin. The target depot is a target depot of the target cargo. Namely, the target goods are transported from the current storage position to the target storage position. The target storage position is an alternative storage position, and the target goods select the storage position from the target storage positions as a final storage position.

Since the target goods are all placed in the standard material box, the quantity of the goods is measured by the quantity of the material box. A standard bin is a target cargo. Two target loads are considered whether the loads placed in the two standard bins are the same or not.

The goods parameter of the target goods comprises the position of the current position of the target goods, and the position parameter of the target position comprises the position of the target position, the occupation state of the target position and the like. The occupied state of the target depot is used for indicating whether goods have been placed in the target depot.

S202, the server determines a total carrying path for arranging at least one target cargo according to the cargo parameter and the storage position parameter.

The carrying path refers to a total carrying path for sorting all the target cargos, and the carrying path is determined according to the cargo parameters of all the target cargos and the position parameters of all the target positions.

The following describes the conveyance path by way of example: if 2 target cargos are to be sorted, the 2 target cargos are respectively marked as a target cargo O1 and a target cargo O2, and 2 target storage positions are arranged in the warehouse and respectively marked as a target storage position VA and a target storage position VB.

Determining a single conveying path for conveying the target cargo O1 to the target storage location VA, determining a single conveying path for conveying the target cargo O2 to the target storage location VB, and superposing the two single conveying paths to obtain a total conveying path of 2 target cargos. This overall conveyance path may be labeled O1 → VA → O2 → VB. Wherein the single transfer path for transferring the target cargo O2 to the target depot VB includes a path for the robot to move from the target depot a to the current depot of the target cargo O2.

Accordingly, another total carrying path, that is, a single carrying path for carrying the target cargo O1 to the target depot VB and a single carrying path for carrying the target cargo O2 to the target depot VA can be determined. This overall conveyance path may be labeled O1 → VB → O2 → VA.

And S203, the server generates a library managing task instruction for controlling the robot to arrange at least one target cargo according to the total carrying path.

And generating a corresponding library managing task instruction according to the total conveying path. And sending the library managing task instruction to the robot, wherein the robot can arrange all the target goods along the total carrying path when receiving the library managing task instruction.

And S204, the robot receives the library managing task instruction sent by the server.

The robot is in communication connection with the server, and data and instruction transmission is carried out through a communication protocol.

And S205, carrying the target goods to the target warehouse location by the robot according to the warehouse managing task instruction.

And the robot analyzes the library managing task instruction to obtain a total carrying path. And arranging all the target cargos along the total conveying path.

If the robot resolves that the total transportation path is O1 → VB → O2 → VA, the robot takes out the target cargo O1 from the depot where the target cargo O1 is located, and transports the target cargo O1 to the target depot VB. Then, the cargo is moved from the target storage location VB to the target cargo O2, and the target cargo O2 is transported to the target storage location VA. And finishing the sorting task.

According to the warehouse arranging method, the server generates the corresponding carrying path according to the warehouse position parameters and the goods parameters, the warehouse arranging task instruction for controlling the robot is generated according to the carrying path, the robot executes the warehouse arranging task, and the warehouse position arrangement of the target goods can be completed without depending on manpower, so that the warehouse arranging efficiency is improved.

The following description focuses on a library management method provided in the embodiment of the present application with reference to fig. 4, and the library management method includes the following steps:

s301, the server obtains goods parameters of at least one target goods and position parameters of at least one target position.

The cargo parameters and the library location parameters are the same as those in S201, and are not described herein again. The process of determining the target goods and the target storage position is described in the following four application scenes of sorting the goods with high ex-warehouse frequency, sorting the goods with low ex-warehouse frequency, sorting the associated goods and sorting the goods in the ex-warehouse order.

Aiming at the arrangement of goods with high ex-warehouse frequency, determining target goods according to the following modes: and counting the ex-warehouse frequency of each stock in the warehouse, and taking the stock with the ex-warehouse frequency higher than a first preset frequency threshold value as a target product. The first preset frequency threshold value can be determined according to the actual delivery frequency, so that hot-spot inventory goods are selected from a plurality of inventory goods according to the first preset frequency threshold value, and the goods are used as goods to be sorted.

Similar to the sorting of the goods with high delivery frequency, the target goods are determined according to the following modes aiming at the sorting of the goods with low delivery frequency: the stock goods with the ex-warehouse frequency lower than the second preset frequency threshold value are used as target goods, and the second preset frequency threshold value can be determined according to the actual ex-warehouse frequency so as to realize the arrangement of goods which are not frequently ex-warehouse, such as dead goods, spare goods and the like in the warehouse.

For the sorting of the associated goods, the target goods are determined according to the following modes: and (4) counting the association degree between every two stock goods in the warehouse, and taking the stock goods with the association degree higher than a preset association degree threshold value as target goods. A higher degree of correlation can be set between the goods which are frequently delivered out of the warehouse at the same time. The preset relevance threshold can be determined according to actual requirements, so that stock goods with high relevance are selected from a plurality of stock goods according to the relevance threshold, and the goods are used as goods to be sorted.

Aiming at the goods arrangement in the delivery order, determining the target goods according to the following modes: and directly taking the goods in the delivery order as target goods.

Aiming at the arrangement of goods with high delivery frequency and goods in delivery orders, a target storage position is obtained according to the following modes: first, the storage space is empty, i.e., in an idle state. Second, a target bin is selected from the bins in the idle state. And if each storage position is a single-depth storage position, the storage position at the warehouse exit and/or the storage position beside the main road of the warehouse are/is taken as a target storage position, so that the goods placed on the target storage position can be conveniently taken out of the warehouse. If each storage position is a double-depth storage position, namely each storage position comprises a deep storage position and a shallow storage position, the deep storage position refers to a storage position which is far away from the walkway and is positioned at the same position on the same layer of goods shelf, and the shallow storage position refers to a storage position which is close to the walkway and is positioned at the same position on the same layer of goods shelf. And taking the shallow storage position at the warehouse exit and/or the shallow storage position beside the main road of the warehouse as a target storage position.

Aiming at the goods arrangement with high ex-warehouse frequency, the robot needs longer time for taking and placing operations on deep warehouse locations, and in addition, if goods exist on shallow warehouse locations adjacent to the deep warehouse locations, when the goods are taken from the deep warehouse locations, the goods in the shallow warehouse locations need to be taken onto a basket carried by the robot first, and then the target goods in the deep warehouse locations need to be taken. After the target goods are taken, the goods in the shallow storage position need to be returned to the shallow storage position from the pack basket, and the whole task time of taking the box is greatly increased correspondingly. Therefore, the target storage position is selected as a shallow storage position for the goods arrangement with high ex-warehouse frequency.

Aiming at the arrangement of goods with low delivery frequency, a target storage position is obtained according to the following modes: a target bin is selected from the bin of the idle state. And if each storage position is a single-depth storage position, the goods storage position far away from the main road or the warehouse exit is used as a target storage position. If each storage position is a double-depth storage position, the deep storage position is used as a target storage position, and a shallow storage position far away from the main road or the warehouse exit can be used as a target storage position.

And aiming at the arrangement of the associated goods, determining a target storage position according to the following modes: a target bin is selected from the bin of the idle state. And if each library position is a single-depth library position, taking the library positions in the same area as target library positions. And if each library position is a double-depth library position, taking both the deep library position and the shallow library position as target library positions.

In an alternative embodiment, if the highly related goods and bins, or their frequent occurrences, are in the same delivery slip, they can be selectively sorted into adjacent shallow locations or into shallow/deep locations of the same unit. Therefore, when the robot is in the warehouse-out operation, the related goods/bins in the warehouse-out list can be extracted from the adjacent shallow warehouse positions or the shallow/deep warehouse positions of the same unit.

S302, the server determines a total carrying path for arranging at least one target cargo according to the cargo parameter and the storage position parameter.

And determining the shortest total carrying path for arranging at least one target cargo according to the cargo parameters and the storage position parameters. That is, at least one total transporting path for all the target cargos to be transported to the target storage location respectively is determined according to the cargo parameter and the storage location parameter. And selecting the shortest conveying path from the at least one total conveying path. The process of obtaining the total conveying path is described below with reference to an example: if 2 target cargos are to be sorted, the 2 target cargos are respectively marked as a target cargo O1 and a target cargo O2, and 2 target storage positions are arranged in the warehouse and respectively marked as a target storage position VA and a target storage position VB. The following total conveying path can be obtained according to the method in S202: total conveyance path 1: o1 → VA → O2 → VB, total conveyance path 2: o1 → VB → O2 → VA, total conveyance path 3: o2 → VA → O1 → VB, total conveyance path 4: o2 → VB → O1 → VA. The shortest conveyance path is selected from the four total conveyance paths.

And S303, the server generates a library managing task instruction for controlling the robot to arrange at least one target cargo according to the total carrying path.

And S304, the robot receives the library managing task instruction sent by the server.

S305, the robot carries the target goods to the target warehouse location according to the warehouse managing task instruction.

S303 to S305 have been respectively detailed in S203 to S205, and are not described herein again.

According to the warehouse arranging method provided by the embodiment of the application, the server determines the shortest carrying path according to the goods parameters and the warehouse location parameters, and moves the goods with high warehouse-out frequency to the target warehouse location convenient for warehouse-out along the shortest carrying path, so that the goods arranging efficiency is improved.

The following description focuses on a library management method provided in the embodiment of the present application with reference to fig. 5, and the library management method includes the following steps:

s401, the server obtains goods parameters of at least one target goods and position parameters of at least one target position.

S401 is already described in detail in S301, and is not described herein again.

S402, the server determines a total carrying path for arranging at least one target cargo according to the cargo parameter and the storage position parameter.

And determining the shortest total carrying path for arranging at least one target cargo according to the cargo parameters and the storage position parameters. That is, at least one total transporting path for all the target cargos to be transported to the target storage location respectively is determined according to the cargo parameter and the storage location parameter. And selecting the shortest conveying path from the at least one total conveying path.

Wherein, the at least one total carrying path for determining that all the target cargos are respectively carried to the target storage positions according to the cargo parameters and the storage position parameters is specifically as follows: and calculating a single carrying path for carrying the single target cargo to the target storage position according to the cargo parameter and the storage position parameter. The individual transfer paths for all the target cargo are summed to determine a total transfer path.

Wherein, aiming at calculating a single conveying path, the single conveying path is divided into a material taking path and a material returning path. The material taking path refers to a path from a last material returning point to a current material taking point, namely a path from a target storage position where a last target cargo is placed to a current storage position of the current target cargo and a path from the current storage position to take out the current target cargo. The material returning path refers to the process from the current material taking point to the current material returning point. I.e. the path from the current position of the current target cargo to the target position and placing the current target cargo in the target position.

Based on the decomposition process, calculating a single conveying path specifically includes: the cargo parameter includes a location of a current bin position of the current target cargo. Determining a material taking path for taking out the current target goods according to the position of the target position corresponding to the last target goods and the position of the current target goods, determining a material returning path from the current position to the target position according to the position of the current position and the position parameters of the target position, and overlapping the material taking path and the material returning path to determine a single carrying path.

Preferably, the storage location parameter only includes the position of the target storage location, and the material returning path from the current storage location to the target storage location can be directly determined according to the position of the current storage location and the position of the target storage location.

And S403, the server generates a library managing task instruction for controlling the robot to arrange at least one target cargo according to the total carrying path.

And S404, the robot receives a library managing task instruction sent by the server.

S405, the robot carries the target goods to the target warehouse location according to the warehouse managing task instruction.

S403 to S405 have been respectively detailed in S203 to S205, and are not described herein again.

According to the warehouse management method provided by the embodiment of the application, the carrying path of a single target cargo is divided into the material taking path and the material returning path, and then the total carrying path of all the target cargos is determined according to the carrying path of the single target cargo. And then can select the shortest transport route from a plurality of total transport routes, along the shortest transport route with the target goods remove to be convenient for on the target storehouse position of leaving warehouse, improve goods arrangement efficiency.

The following description focuses on a library management method provided in the embodiment of the present application with reference to fig. 6, and the library management method includes the following steps:

s501, the server obtains at least one goods parameter of the target goods and at least one position parameter of the target position.

The manner of determining the target cargo is the same as that in S301, and is not described herein again. The cargo parameters and the library location parameters are the same as those in S201, and are not described herein again. The following focuses on the way in which the target library location is determined.

When determining the target library location, it is not necessary to determine whether the library location is occupied. That is, the target library location may be occupied, may be in an idle state, and is selected based only on the location of the library location.

For the situation that whether the warehouse location is occupied or not is not considered, the process of determining the target warehouse location in the four application scenes of arranging the goods with high warehouse-out frequency, arranging the goods with low warehouse-out frequency, arranging the associated goods and arranging the goods in the warehouse-out order is the same as the process of determining the target warehouse location from the idle warehouse locations in the S401, and details are not repeated here.

Optionally, the condition/mechanism for determining whether the target library location is occupied may further include:

(1) the target storage position is a goods shelf which is scheduled for the system and is not provided with goods or bins, and the storage position of the goods shelf is an idle storage position formed by rescheduling of the system without judging whether the goods shelf is occupied or not.

(2) Through the task indication, the robot places the target goods to the target storage location with relatively high priority. When the target storage position is free, the target goods are directly placed. When the target storage position is occupied, the robot moves occupied goods away from the target storage position and places the target container on the target storage position.

When the robot is moved away from the occupied goods, the occupied goods can be placed in the temporary storage space of the robot, and the occupied goods are placed in the transfer warehouse after the temporary storage space is filled with the occupied goods. Occupied cargo may also be transported from the target depot location to the transfer depot location.

When the occupied goods are transported from the target storage position to the transfer storage position, the transport path of the occupied goods can be determined together with the material taking path and the material returning path of the target goods.

When occupied goods are placed in the temporary storage space of the robot, tasks are redistributed in the transportation of the occupied goods through the server, the robot is indicated to place the occupied goods in other storage positions, a transportation path of the occupied goods, a material taking path and a material returning path of the target goods can be determined to be common at the same time, and the server directly transports the occupied goods from the target storage position to a transfer storage position according to a storage management task instruction.

(3) Through the task instruction, the robot puts the target goods to the target storage position with lower priority. When the target storage position is free, the target goods are directly placed. When the target library position is occupied, the robot reports to the server, the target library position is redistributed by the server, or the server sends out an alarm request for manual processing.

S502, the server determines a total carrying path for arranging at least one target cargo according to the cargo parameter and the storage position parameter.

The calculation of the total conveying path according to a single conveying path and the selection of the shortest conveying path from the plurality of conveying paths are already described in detail in S402, and are not described herein again.

The following description focuses on the process of calculating a single conveyance path, which takes into account whether the target garage space is occupied, unlike S502. The specific calculation process is as follows: determining a material taking path for taking out the current target goods according to the position of the target position corresponding to the last target goods and the position of the current target goods, determining a material returning path from the current position to the target position according to the position of the current position and the position parameters of the target position, and overlapping the material taking path and the material returning path to determine a single carrying path.

The calculation process of the feeding path specifically comprises the following steps: the library position parameters comprise the position and the occupation state of the target library position; and determining a main material returning path from the current storage position to the target storage position according to the position of the current storage position and the position of the target storage position. And determining an additional path according to the occupation state of the target library bit. And superposing the main material returning path and the additional path to generate a material returning path.

And if the occupied state indicates that the target storage position is occupied by the occupied goods, determining the additional path for carrying the occupied goods from the target storage position to the transfer storage position according to the position of the target storage position and the position of the transfer storage position. And if the occupation state indicates that the target storage position is not occupied by occupied goods, the additional path is zero.

And S503, the server generates a library managing task instruction for controlling the robot to arrange at least one target cargo according to the total carrying path.

And S504, the robot receives the library managing task instruction sent by the server.

And S505, the robot carries the target goods to the target storage position according to the library managing task instruction.

S503 to S505 have been respectively detailed in S203 to S205, and are not described herein again.

According to the warehouse management method provided by the embodiment of the application, the influence of the occupied state of the target warehouse location on the carrying path is taken into consideration, the path for moving occupied goods to the transfer warehouse location is optimized, and the goods sorting efficiency is further improved.

The following description focuses on a library management method provided in the embodiment of the present application with reference to fig. 7, and the library management method includes the following steps:

s601, the server obtains at least one goods parameter of the target goods and at least one position parameter of the target position.

Here, this step has already been described in S501, and is not described here again.

S602, the server determines a total carrying path for arranging at least one target cargo according to the cargo parameter and the storage position parameter.

And determining the shortest total carrying path for arranging at least one target cargo according to the cargo parameter and the storage position parameter. That is, at least one total transporting path for all the target cargos to be transported to the target storage location respectively is determined according to the cargo parameter and the storage location parameter. And selecting the shortest conveying path from the at least one total conveying path.

The following description focuses on the calculation process of the total transportation path, and different from the above embodiment, the transportation path is to complete the material taking of all the target goods, then complete the material returning of all the target goods, and finally complete the material returning of all the occupied goods. The specific process comprises the following steps: and according to the goods parameters and the storage location parameters, respectively determining the material taking paths of all the target goods, the material returning paths of all the target goods and the additional paths of all the occupied goods in sequence. And superposing the material taking path, the material returning path and the additional path to determine a total conveying path.

The material taking path refers to a path from the current position of the last target goods to the current position of the current target goods. The first material taking path is directly a path for directly taking goods out of the storage position of the current target goods. The material returning path refers to a path from the last target position to the current target position. If the target storage position is occupied by the occupied goods, the material returning path also comprises a path for taking out the occupied goods. For the first returning path, the returning path refers to a path from the current position of the last taken target cargo to the first target position. The additional path is a path from the last transfer bin to the next transfer bin.

The calculation process of the total carrying path is described below with reference to an example, if there are 2 target cargos to be sorted, the target cargos are respectively marked as target cargo O1 and target cargo O2, there are 2 target storage locations and 2 transfer storage locations in the warehouse, the target storage locations are respectively marked as target storage location VA and target storage location VB, and the transfer storage locations are respectively marked as transfer storage location TA and transfer storage location TB.

Taking one of the paths as an example for illustration, the material taking path: o1 → O2, feed back path: o2 → VA → VB, additional path: VB → TA → TB. Wherein, VA → VA refers to the path for taking out the occupied goods from the target storage location VA, and VB → VB refers to the path for taking out the occupied goods from the target storage location VB. And superposing the reclaiming path, the returning path and the additional path to obtain a total conveying path.

And S603, the server generates a library managing task instruction for controlling the robot to arrange at least one target cargo according to the total carrying path.

And S604, the robot receives the library managing task instruction sent by the server.

S603 and S604 are already detailed in S203 and S204, respectively, and are not described herein again.

And S605, carrying the target goods to the target warehouse location by the robot according to the warehouse managing task instruction.

The robot analyzes the library managing task instruction to obtain a total carrying path, and then arranges all target goods along the total carrying path. And the total carrying path is to take out the target goods, place the target goods in the target storage position after taking out the occupied goods, and finally place the occupied goods in the transfer storage position.

The step of carrying the target goods to the target warehouse location according to the warehouse managing task instruction specifically comprises the following steps: and taking out all the target cargos from the current storage positions of the target cargos in sequence, sequentially placing the target cargos in the target storage positions, and sequentially placing the occupied cargos in the transfer storage positions.

All the target cargos are taken out from the current storage positions of the target cargos in sequence, namely the target cargos are taken out one by one according to the total carrying path until all the cargos are taken out. Correspondingly, will occupy the goods and put in the storehouse position that shifts in proper order, that is to say will occupy the goods and put in the storehouse position that shifts according to total transport route one by one, until all occupy the goods and put in the storehouse position that shifts.

Wherein, put the target goods in target storehouse position in proper order and specifically include: judging whether the target storage position is occupied by the goods; and if so, moving the occupied goods out, and placing the target goods in the target storage position. If not, directly placing the target goods in the target storage position. And repeatedly executing the steps of judging whether the target storage position is occupied by the occupied goods or not, and placing the target goods in the target storage position until all the target goods are placed in the target storage position.

The warehouse management method provided by the embodiment of the application comprises the steps of firstly taking out target goods, then taking out occupied goods, then putting back the target goods, and finally putting back a carrying path of the target goods to arrange the target goods. The library management efficiency can be improved without depending on manpower.

As shown in fig. 8, the present application provides a library management apparatus 700, comprising:

an obtaining module 701, configured to obtain a cargo parameter of at least one target cargo and a location parameter of at least one target location;

a determining module 702, configured to determine a carrying path for sorting at least one target cargo according to the cargo parameter and the storage location parameter;

the generating module 703 is configured to generate a library managing task instruction for controlling the robot to manage at least one target cargo according to the transportation path.

Optionally, the determining module 702 is specifically configured to:

Optionally, the obtaining module 701 is specifically configured to:

Optionally, the warehouse location is a single-depth warehouse location, and the obtaining module 701 is specifically configured to:

and taking the library bit positioned in the same area as a target library bit.

Optionally, the warehouse location is a dual-depth warehouse location, and the obtaining module 701 is specifically configured to:

Optionally, the obtaining module 701 is specifically configured to:

taking the inventory goods with the ex-warehouse frequency higher than a preset frequency threshold value as target goods;

and taking the stock goods in the delivery order as target goods.

As shown in fig. 9, an embodiment of the present application provides a library management apparatus, where the library management apparatus 800 includes:

a receiving module 801, configured to receive a library management task instruction sent by a server;

and the execution module 802 is configured to carry the target cargo to the target depot according to the library management task instruction.

Optionally, the executing module 802 specifically includes:

and sequentially placing the target goods in the target storage position.

Optionally, the executing module 802 specifically includes:

Optionally, the target goods are stock goods in the delivery order;

Fig. 10 is a schematic structural diagram of a server according to an embodiment of the present application. As shown in fig. 10, the server 900 provided in the present embodiment includes: a transmitter 901, a receiver 902, a memory 903, and a processor 902.

A transmitter 901 for transmitting instructions and data;

a receiver 902 for receiving instructions and data;

a memory 903 for storing computer execution instructions;

a processor 904 for executing the computer executable instructions stored by the memory to implement the steps performed by the library approach of the above embodiments. Reference may be made specifically to the foregoing description of embodiments of the library-based method.

Alternatively, the memory 903 may be separate or integrated with the processor 904.

When the memory 903 is provided separately, the processing device further includes a bus for connecting the memory 903 and the processor 904.

Fig. 11 is a schematic structural diagram of a robot according to an embodiment of the present application. As shown in fig. 11, the present embodiment provides a robot 1000 including: a transmitter 1001, a receiver 1002, a memory 1003, and a processor 1004.

A transmitter 1001 for transmitting instructions and data;

a receiver 1002 for receiving instructions and data;

a memory 1003 for storing computer-executable instructions;

a processor 1004 for executing the computer executable instructions stored by the memory to implement the steps performed by the library approach of the above embodiments. Reference may be made specifically to the foregoing description of embodiments of the library-based method.

Alternatively, the memory 1003 may be separate or integrated with the processor 1004.

When the memory 1003 is provided separately, the processing device further includes a bus for connecting the memory 1003 and the processor 1004.

The embodiment of the present application further provides a computer-readable storage medium, in which computer-executable instructions are stored, and when the processor executes the computer-executable instructions, the library management generation method executed by the processing device is implemented.

Finally, it should be noted that: the above embodiments are only used for illustrating the technical solutions of the present application, and not for limiting the same; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A library management method is applied to a server and comprises the following steps:

determining a total carrying path for arranging the at least one target cargo according to the cargo parameter and the storage position parameter;

and generating a library managing task instruction for controlling the robot to arrange the at least one target cargo according to the total carrying path.

2. The method according to claim 1, wherein determining a total carrying path for sorting the at least one target cargo according to the cargo parameter and the storage location parameter specifically comprises:

and determining the shortest total carrying path for sorting the at least one target cargo according to the cargo parameter and the storage position parameter.

3. The method according to claim 2, wherein determining the shortest total carrying path for sorting the target cargo according to the cargo parameter and the storage location parameter specifically comprises:

4. The method according to claim 3, wherein determining at least one total transportation path for each of all target cargos to be transported to the target storage according to the cargo parameter and the storage location parameter comprises:

calculating a single carrying path of a single target cargo to the target storage position according to the cargo parameter and the storage position parameter;

summing the individual transfer paths of all the target cargo to determine the total transfer path.

5. The method according to claim 4, wherein calculating a single transport path for a single target cargo to be transported to the target depot according to the cargo parameter and the depot parameter comprises:

and determining the single carrying path according to the material taking path and the material returning path.

6. The method according to claim 5, wherein determining a return path from the current position to the target position according to the position of the current position and the position parameter of the target position comprises:

determining a returning path from the current position to the target position according to the position of the current position and the position of the target position, wherein the position parameters comprise: the location of the target library location.

7. The method according to claim 5, wherein determining a return path from the current position to the target position according to the position of the current position and the position parameter of the target position comprises:

and superposing the main material returning path and the additional path to generate the material returning path.

8. The method according to claim 7, wherein determining an additional path according to the occupation state of the target library bit specifically comprises:

if the occupied state indicates that the target storage position is occupied by occupied goods, determining the additional path for carrying the occupied goods from the target storage position to the transfer storage position according to the position of the target storage position and the position of the transfer storage position;

9. The method according to claim 3, wherein determining at least one total transportation path for each of all target cargos to be transported to the target storage according to the cargo parameter and the storage location parameter comprises:

and determining the total conveying path according to the material taking path, the material returning path and the additional path.

10. The method according to any one of claims 1 to 9, wherein the warehouse location is a single-depth location, and the goods parameter of the at least one target good and the location parameter of the at least one target location are obtained, specifically including any one or a combination of more than one of the following:

taking the warehouse location at the warehouse exit as the target warehouse location;

taking the warehouse location beside the main road of the warehouse as the target warehouse location;

and taking the library bit positioned in the same area as the target library bit.

11. The method according to any one of claims 1 to 9, wherein the warehouse locations are dual-depth locations, the warehouse locations include a shallow location and a deep location, and the obtaining of the cargo parameter of the at least one target cargo and the location parameter of the at least one target location specifically includes any one or more of the following combinations:

taking a shallow storage position at the warehouse exit as the target storage position;

taking a shallow storage position beside a main road of the warehouse as the target storage position;

and taking both the shallow library position and the deep library position which are positioned at the same position as the target library position.

12. The method according to any one of claims 1 to 9, wherein the obtaining of the cargo parameter of the at least one target cargo and the position parameter of the at least one target position specifically comprises any one or more of the following combinations:

taking the inventory goods with the association degree higher than a preset association degree threshold value between the two inventory goods as the target goods;

and taking the stock goods in the delivery order as target goods.

13. A library management method is applied to a robot, and comprises the following steps:

receiving a library management task instruction sent by a server, wherein the library management task instruction is determined according to a total carrying path for sorting at least one target cargo, and the total carrying path is determined according to a cargo parameter of the at least one target cargo and a library position parameter of at least one target library position;

and carrying the target goods to a target storage position according to the library management task instruction.

14. The method according to claim 13, wherein the step of carrying the target cargo to the target depot according to the library management task instruction specifically comprises:

sequentially taking out all the target cargos from the current storage positions of the target cargos;

and sequentially placing the target goods in the target storage position.

15. The method according to claim 14, wherein the sequentially placing the target cargo in the target storage space comprises:

and when judging that the target storage position is not occupied by occupied goods, directly placing the target goods in the target storage position.

16. The method according to claim 15, wherein said sequentially placing the target cargo in the target storage space comprises:

and when the target storage position is occupied by occupied goods, transferring the occupied goods to the storage space of the robot, and placing the occupied goods in a transfer storage position.

17. The method according to claim 15, wherein said sequentially placing the target cargo in the target storage space comprises:

and when the target storage position is occupied by occupied goods, sending occupation information to a server so that the server redistributes the target storage position.

18. The method according to claim 15, wherein said sequentially placing the target cargo in the target storage space comprises:

and when the target storage position is occupied by occupied goods, sending occupation information to a server so that the server generates prompt information for requesting manual assistance.

19. The method according to any one of claims 13 to 18, wherein:

the target goods are stock goods with the ex-warehouse frequency higher than a first preset frequency threshold;

if the warehouse location is a single-depth warehouse location, the target warehouse location is a warehouse location positioned at an outlet of the warehouse, and/or the target warehouse location is a warehouse location positioned beside a main road of the warehouse;

and if the warehouse location is a double-depth storage location, the target storage location is a shallow storage location positioned at the warehouse exit, and/or the target storage location is a shallow storage location positioned beside the main road of the warehouse.

20. The method according to any one of claims 13 to 18, wherein:

the target goods are stock goods in the delivery order;

21. The method according to any one of claims 13 to 18, wherein:

the target goods are the inventory goods of which the association degree between the two inventory goods is higher than a preset association degree threshold value;

and if the warehouse positions are double-depth warehouse positions, the target warehouse positions are shallow warehouse positions and deep warehouse positions which are located at the same position.

22. A library management apparatus, comprising:

the determining module is used for determining a carrying path for sorting the at least one target cargo according to the cargo parameter and the storage position parameter;

and the generating module is used for generating a library managing task instruction for controlling the robot to arrange the at least one target cargo according to the carrying path.

23. A library management apparatus, comprising:

the receiving module is used for receiving a library management task instruction sent by the server and determining a total carrying path for arranging at least one target cargo, wherein the total carrying path is determined according to a cargo parameter of the at least one target cargo and a library position parameter of at least one target library position;

and the execution module is used for carrying the target goods to the target storage position according to the library management task instruction.

24. A server, comprising:

a memory for storing a program;

a processor for executing the program stored in the memory, the processor being configured to perform the library management method of any one of claims 1 to 12 when the program is executed.

25. A robot, comprising:

a memory for storing a program;

a processor for executing the program stored in the memory, the processor being configured to perform the library management method of any one of claims 13 to 21 when the program is executed.

26. A library management system, comprising: a server according to claim 21 and a robot according to claim 22.

27. A computer-readable storage medium comprising instructions which, when executed on a computer, cause the computer to perform the library approach of any one of claims 1 to 12 and any one of claims 13 to 21.